added reprojector option to not use feature alignment

svo/include/svo/reprojector.h

@@ -42,8 +42,10 @@ public:
   /// Reprojector config parameters
   struct Options {
     size_t max_n_kfs;   //!< max number of keyframes to reproject from
+    bool find_match_direct;
     Options()
-    : max_n_kfs(10)
+    : max_n_kfs(10),
+      find_match_direct(true)
     {}
   } options_;
 

svo/src/reprojector.cpp

@@ -163,7 +163,9 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame)
     }
 
     int feature_level;
-    bool found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level);
+    bool found_match = true;
+    if(options_.find_match_direct)
+      found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level);
     if(!found_match)
     {
       it->pt->n_failed_reproj_++;